DocumentCode
2520795
Title
Balance control for an acrobot
Author
Xue, Fangzheng ; Hou, Zhicheng ; Deng, Hangjian
Author_Institution
Coll. of Autom., Chongqing Univ., Chongqing, China
fYear
2011
fDate
23-25 May 2011
Firstpage
3426
Lastpage
3429
Abstract
A balancing controller using LQR approach and GA method is designed for three-link acrobot. The three-link acrobot we studied is not actuated by torque but acceleration, which has more significant than the common one. We establish the model of the acrobot, which consists of two parts: actuation model and dynamic model. Using LQR method, a balancing controller is designed for the model. And genetic algorithms method is used to improve the performance of it. Simulation results show the feasibility and effectiveness of the controller.
Keywords
genetic algorithms; linear quadratic control; robots; GA method; LQR approach; actuation model; balance control; balancing controller; dynamic model; genetic algorithms; three-link acrobot; Actuators; Genetic algorithms; Joints; Mathematical model; Robots; Simulation; Torque; Acrobot; Balance control; GA; LQR;
fLanguage
English
Publisher
ieee
Conference_Titel
Control and Decision Conference (CCDC), 2011 Chinese
Conference_Location
Mianyang
Print_ISBN
978-1-4244-8737-0
Type
conf
DOI
10.1109/CCDC.2011.5968708
Filename
5968708
Link To Document